实现微型机械手指在复杂轨迹上的毫米级精准运动控制。
Experimental Characterization of Fingertip Trajectory following for a 3-DoF Series-Parallel Hybrid Robotic Finger
- 采用解析正向运动学与闭式雅可比矩阵设计，支持闭环轨迹跟踪。
- 实验验证直线、圆弧及复杂曲线轨迹，定位精度达毫米级。
- 为灵巧抓取的微型手指设计提供首个系统性实验基准。
机器人手指的任务空间控制是实现灵巧操作的关键，因操作目标通常以指尖运动和受力描述，而非单个关节角度。尽管任务空间规划与控制在大型臂式机械臂中已有广泛研究，但在紧凑型多自由度机器人手指上实现精确任务空间轨迹跟踪的实例仍十分稀少。本文提出一种三自由度、连杆驱动的串并联混合型机器人手指，具备解析正向运动学与闭式雅可比矩阵，并采用解析运动速率控制（RMRC）实现闭环任务空间轨迹跟踪。通过多种轨迹（包括直线、圆形及更复杂曲线）的实验评估，验证了指尖轨迹跟踪的毫米级精度。据我们所知，本工作是首个系统性的实验展示，证明了连杆驱动机器人手指在任务空间中的高精度轨迹跟踪能力，为未来灵巧手内操作的设计提供了基准。
原文摘要 · Abstract (English)
Task-space control of robotic fingers is a critical enabler of dexterous manipulation, as manipulation objectives are most naturally specified in terms of fingertip motions and applied forces rather than individual joint angles. While task-space planning and control have been extensively studied for larger, arm-scale manipulators, demonstrations of precise task-space trajectory tracking in compact, multi-DoF robotic fingers remain scarce. In this paper, we present the physical prototyping and experimental characterization of a three-degree-of-freedom, linkage-driven, series-parallel robotic finger with analytic forward kinematics and a closed-form Jacobian. A resolved motion rate control (RMRC) scheme is implemented to achieve closed-loop task-space trajectory tracking. We experimentally evaluate the fingertip tracking performance across a variety of trajectories, including straight lines, circles, and more complex curves, and report millimeter-level accuracy. To the best of our knowledge, this work provides one of the first systematic experimental demonstrations of precise task-space trajectory tracking in a linkage-driven robotic finger, thereby establishing a benchmark for future designs aimed at dexterous in-hand manipulation.
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